3000 Number of robots = 50
2500-
2000
oo
CO
^ 1500 -
1000 -
500
0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
Velocity
Figure 3.7 Analysis of the spreading algorithm with variation in velocity
An exponential decrease in the number of iterations (time) can be noted. Also,
independent of the number of robots, the amount of time it takes to spread is almost the
same.
3.2.3.4 Noise analysis
In all the above results of the spreading algorithm, it has been assumed that there is
no noise present in the environment. This assumption is not true for any environment
encountered in reality. The spreading algorithm was hence simulated with the presence of
noise and the uniformity of the resulting distribution was calculated in the same way as in
section 3.2.3.2. The parameters used for this simulation are same as in table 3.1. For
every iteration, additive white noise of a particular power was added in the position
information of robots. The standard deviation of the estimated pdf for various noise